clear;
clc;
close all;

a = 5.954;
b = 0.06147;
num = b;
den = [1 a];
model_tf = tf(num,den)

A = -a;
B = b;
pp = -15;
Q = 300;
R = 0.01;
% 极点配置
Kpp = acker(A,B,pp)
% LQR
Klqr = lqr(A,B,Q,R)